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<div class="title">FrameDrawer.h</div>  </div>
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<a href="_frame_drawer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#ifndef FRAMEDRAWER_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define FRAMEDRAWER_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">//#include &quot;Tracking.h&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//#include &quot;MapPoint.h&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">//#include &quot;Map.h&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;opencv2/core.hpp&gt;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">//#include &lt;opencv2/features2d.hpp&gt;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespacestd.html">std</a>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;{</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">class </span>Tracking;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">//class Viewer;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">class </span>MapPoint;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">class </span>Map;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">   48</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">FrameDrawer</a></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">FrameDrawer</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* pMap);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">//FrameDrawer();</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="comment">// Update info from the last processed frame.</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">void</span> Update(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a> *pTracker);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">// Draw last processed frame.</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    cv::Mat DrawFrame(<span class="keywordtype">float</span> radio = 1);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ac256525bcc9b9330b439c16583ad0255">   64</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ac256525bcc9b9330b439c16583ad0255">K</a>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a8596422190adf9c7f6e083073ad96004">   67</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a8596422190adf9c7f6e083073ad96004">distCoef</a>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">void</span> DrawTextInfo(cv::Mat &amp;im, <span class="keywordtype">int</span> nState, cv::Mat &amp;imText);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">// Info of the frame to be drawn</span></div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a2b405554be1a48ade50055af97c2c2c9">   76</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a2b405554be1a48ade50055af97c2c2c9">mIm</a>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#adbc9489192f5485ece966b0d6d589e47">   79</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#adbc9489192f5485ece966b0d6d589e47">N</a>;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a35ec8c5aea5cffee69ac5cec6abb5871">   82</a></span>&#160;    vector&lt;cv::KeyPoint&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a35ec8c5aea5cffee69ac5cec6abb5871">mvCurrentKeys</a>;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ab47bccbb2ddfa65221a968736a6bd092">   89</a></span>&#160;    vector&lt;bool&gt; mvbMap, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ab47bccbb2ddfa65221a968736a6bd092">mvbVO</a>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ad7087ccda3d514be5e0132f889c3e949">   93</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ad7087ccda3d514be5e0132f889c3e949">mbOnlyTracking</a>;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ab1cbcb7a1443ceaaafaaf5537927f184">  101</a></span>&#160;    <span class="keywordtype">int</span> mnTracked, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ab1cbcb7a1443ceaaafaaf5537927f184">mnTrackedVO</a>;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a890a8bd44745b16024e1d7e82ac1d3f0">  105</a></span>&#160;    vector&lt;cv::KeyPoint&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a890a8bd44745b16024e1d7e82ac1d3f0">mvIniKeys</a>;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a158a3ca6cab99c6bb691a7537212764b">  108</a></span>&#160;    vector&lt;int&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a158a3ca6cab99c6bb691a7537212764b">mvIniMatches</a>;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a00cc5f188d53b4d8f767f339515cc8e3">  111</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a00cc5f188d53b4d8f767f339515cc8e3">mState</a>;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a48374a37e72786b2e64c15c0ec13ce7b">  114</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a48374a37e72786b2e64c15c0ec13ce7b">mpMap</a>;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a1425b923def88314bb43eddf3eee4ddb">  116</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a1425b923def88314bb43eddf3eee4ddb">mMutex</a>;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a44ac17e7eaa72fc541bd64c45e697265">  119</a></span>&#160;    vector&lt;int&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a44ac17e7eaa72fc541bd64c45e697265">observaciones</a>;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;};</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="preprocessor">#endif // FRAMEDRAWER_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_a35ec8c5aea5cffee69ac5cec6abb5871"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a35ec8c5aea5cffee69ac5cec6abb5871">ORB_SLAM2::FrameDrawer::mvCurrentKeys</a></div><div class="ttdeci">vector&lt; cv::KeyPoint &gt; mvCurrentKeys</div><div class="ttdoc">Puntos singulares del cuadro actual. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:82</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_a890a8bd44745b16024e1d7e82ac1d3f0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a890a8bd44745b16024e1d7e82ac1d3f0">ORB_SLAM2::FrameDrawer::mvIniKeys</a></div><div class="ttdeci">vector&lt; cv::KeyPoint &gt; mvIniKeys</div><div class="ttdoc">Puntos singulares de inicialización. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:105</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_a48374a37e72786b2e64c15c0ec13ce7b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a48374a37e72786b2e64c15c0ec13ce7b">ORB_SLAM2::FrameDrawer::mpMap</a></div><div class="ttdeci">Map * mpMap</div><div class="ttdoc">Mapa mundi. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:114</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">ORB_SLAM2::FrameDrawer</a></div><div class="ttdoc">Clase de instancia única que se ocupa de mostrar la imagen de la cámara, con marcas verdes sobre los ...</div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:48</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_ac256525bcc9b9330b439c16583ad0255"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ac256525bcc9b9330b439c16583ad0255">ORB_SLAM2::FrameDrawer::K</a></div><div class="ttdeci">cv::Mat K</div><div class="ttdoc">Matriz de calibración del último frame, para undistort. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:64</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_a1425b923def88314bb43eddf3eee4ddb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a1425b923def88314bb43eddf3eee4ddb">ORB_SLAM2::FrameDrawer::mMutex</a></div><div class="ttdeci">std::mutex mMutex</div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:116</div></div>
<div class="ttc" id="namespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_a2b405554be1a48ade50055af97c2c2c9"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a2b405554be1a48ade50055af97c2c2c9">ORB_SLAM2::FrameDrawer::mIm</a></div><div class="ttdeci">cv::Mat mIm</div><div class="ttdoc">Imagen gris del cuadro actual. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:76</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html">ORB_SLAM2::Map</a></div><div class="ttdoc">Mapa del mundo, de puntos y keyframes. </div><div class="ttdef"><b>Definition:</b> Map.h:52</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_a44ac17e7eaa72fc541bd64c45e697265"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a44ac17e7eaa72fc541bd64c45e697265">ORB_SLAM2::FrameDrawer::observaciones</a></div><div class="ttdeci">vector&lt; int &gt; observaciones</div><div class="ttdoc">Cantidad de observaciones de cada punto del mapa. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:119</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html">ORB_SLAM2::Tracking</a></div><div class="ttdoc">Objeto único que se ejecuta en su propio Trhead, y se inicia con Run(). </div><div class="ttdef"><b>Definition:</b> Tracking.h:114</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_a158a3ca6cab99c6bb691a7537212764b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a158a3ca6cab99c6bb691a7537212764b">ORB_SLAM2::FrameDrawer::mvIniMatches</a></div><div class="ttdeci">vector&lt; int &gt; mvIniMatches</div><div class="ttdoc">Macheos de inicialización. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:108</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_ab47bccbb2ddfa65221a968736a6bd092"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ab47bccbb2ddfa65221a968736a6bd092">ORB_SLAM2::FrameDrawer::mvbVO</a></div><div class="ttdeci">vector&lt; bool &gt; mvbVO</div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:89</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_a00cc5f188d53b4d8f767f339515cc8e3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a00cc5f188d53b4d8f767f339515cc8e3">ORB_SLAM2::FrameDrawer::mState</a></div><div class="ttdeci">int mState</div><div class="ttdoc">Copia del estado del autómata finito del sistema. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:111</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_adbc9489192f5485ece966b0d6d589e47"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#adbc9489192f5485ece966b0d6d589e47">ORB_SLAM2::FrameDrawer::N</a></div><div class="ttdeci">int N</div><div class="ttdoc">Cantidad de puntos singulares. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_ad7087ccda3d514be5e0132f889c3e949"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ad7087ccda3d514be5e0132f889c3e949">ORB_SLAM2::FrameDrawer::mbOnlyTracking</a></div><div class="ttdeci">bool mbOnlyTracking</div><div class="ttdoc">Copia de la señal de sólo tracking (true) o tracking &amp; mapping (false). </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:93</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_a8596422190adf9c7f6e083073ad96004"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#a8596422190adf9c7f6e083073ad96004">ORB_SLAM2::FrameDrawer::distCoef</a></div><div class="ttdeci">cv::Mat distCoef</div><div class="ttdoc">Coeficientes de distorsión para undistort. </div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:67</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html_ab1cbcb7a1443ceaaafaaf5537927f184"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html#ab1cbcb7a1443ceaaafaaf5537927f184">ORB_SLAM2::FrameDrawer::mnTrackedVO</a></div><div class="ttdeci">int mnTrackedVO</div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:101</div></div>
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